CN111886195B - Operating system - Google Patents
Operating system Download PDFInfo
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- CN111886195B CN111886195B CN201980020934.2A CN201980020934A CN111886195B CN 111886195 B CN111886195 B CN 111886195B CN 201980020934 A CN201980020934 A CN 201980020934A CN 111886195 B CN111886195 B CN 111886195B
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- Prior art keywords
- remote operation
- operation terminal
- setting point
- change
- setting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides a work vehicle capable of preventing errors and confusion of setting points even when a plurality of operators operate remote operation terminals respectively. A work vehicle (crane (1)) is provided with a work device (40), wherein the work device (40) can be freely operated by a remote operation terminal (13), the set point of the work device (40) can be changed by using the remote operation terminal (13), and if the set point is changed by one remote operation terminal (13) of a plurality of remote operation terminals (13), the set point is reflected on the other remote operation terminals (13).
Description
Technical Field
The present invention relates to a work vehicle. More specifically, the present invention relates to a work vehicle capable of preventing errors and confusion in setting points even when a plurality of operators operate remote operation terminals.
Background
Conventionally, a crane as a representative work vehicle is known. The crane is mainly composed of a traveling body and a revolving body. The traveling body includes a plurality of wheels and is configured to travel freely. The revolving body has a working mechanism constituted by an arm, a hook, and the like, and is configured to be capable of freely carrying a load.
There is also a crane in which a work implement is freely operated by a remote operation terminal (see patent document 1). Further, a crane capable of changing the setting point of the working device using a remote operation terminal has been proposed. In such a crane, when a plurality of operators operate the remote operation terminals, the setting points of the working devices may be changed inaccurately. That is, there is a possibility that an error or confusion of the setting point may occur. It is conceivable that the same applies to other work vehicles provided with a plurality of remote operation terminals. Therefore, there is a need for a work vehicle that can prevent errors and confusion in setting points even when a plurality of operators operate remote operation terminals, respectively.
Prior art documents
Patent literature
Patent document 1 Japanese patent laid-open publication No. 2017-65911
Disclosure of Invention
Problems to be solved by the invention
Provided is a work vehicle capable of preventing errors and confusion in setting points even when a plurality of operators operate remote operation terminals.
Means for solving the problems
In the work vehicle of the present invention,
the device is provided with a working device which is provided with a working device,
and the operation device can be freely operated through the remote operation terminal,
wherein the content of the first and second substances,
the setting point of the working device can be changed by using the remote operation terminal,
if one of the plurality of remote operation terminals changes the setting point, the change is reflected on the other remote operation terminals.
In the work vehicle of the present invention,
only one of the predetermined remote operation terminals is permitted to change the setting point, and if the remote operation terminal changes the setting point, the change is reflected in the other remote operation terminals.
In the work vehicle of the present invention,
a switching means is provided at each of the remote operation terminals,
only one of the remote operation terminals selected by the switching tool is allowed to change the setting point, and if the remote operation terminal changes the setting point, the change is reflected in the other remote operation terminals.
In the work vehicle of the present invention,
an image display is provided at each of the remote operation terminals,
on the image display in the other remote operation terminal, a screen in which a content to be reflected is recorded is displayed.
In the work vehicle of the present invention,
an image display is provided at each of the remote operation terminals,
in the case of operating one of the remote operation terminals,
on the image display in the remote operation terminal, a screen is displayed which inquires whether or not the content when the previous setting point is changed is reflected.
In the work vehicle of the present invention,
when the content reflecting the change of the previous set point is selected,
on the image display in the other remote operation terminal, a screen in which a content to be reflected is recorded is displayed.
In the work vehicle of the present invention,
while one of the remote operation terminals is being operated,
in all the remote operation terminals, the change of the setting point is prohibited.
In the work vehicle of the present invention,
comprises a working device and a control device, wherein the working device is provided with a working device,
and the working device can be freely operated through the remote operation terminal,
wherein the content of the first and second substances,
the setting point of the working device can be changed by using the remote operation terminal,
only one of the remote operation terminals among the plurality of remote operation terminals is allowed to change the setting point.
In the work vehicle of the present invention,
only a predetermined one of the remote operation terminals is allowed to change the setting point.
In the work vehicle of the present invention,
a switching tool is provided at each of the remote operation terminals,
only one of the remote operation terminals selected by the switching tool is allowed to change the setting point.
In the work vehicle of the present invention,
each of the remote operation terminals is provided with a light section,
the lighting unit is turned on only in the remote operation terminal permitted to change the setting point.
In the work vehicle of the present invention,
an image display is provided at each of the remote operation terminals,
the image display unit displays the information only on the remote operation terminal that is permitted to change the setting point.
In the work vehicle of the present invention,
an image display is provided at each of the remote operation terminals,
displaying a setting point changing screen on the image display in the remote operation terminal allowed to change a setting point,
and not displaying a setting point changing screen on the image display in the remote operation terminal not allowed to change a setting point.
Effects of the invention
According to the work vehicle of the present invention, the setting point of the work device can be changed using the remote operation terminal. In addition, if one of the plurality of remote operation terminals changes the setting point, the change is reflected in the other remote operation terminal. According to this work vehicle, the same set points are reflected in all the remote operation terminals. Therefore, even when a plurality of operators operate the remote operation terminals, errors and confusion of setting points can be prevented.
According to the work vehicle of the present invention, only one predetermined remote operation terminal is permitted to change the setting point, and if the remote operation terminal changes the setting point, the change is reflected in the other remote operation terminals. According to this work vehicle, the setting point of the work device can be changed only by a person having a predetermined remote operation terminal, and the content is reflected on another remote operation terminal. Therefore, errors and confusion of the setting points can be prevented.
According to the work vehicle of the present invention, the switching tool is provided at each remote operation terminal. In addition, only one remote operation terminal selected by the switching tool is allowed to change the setting point, and if the remote operation terminal changes the setting point, the change is reflected in the other remote operation terminals. According to this work vehicle, the setting point of the work device can be changed only by the person having the selected one remote operation terminal, and the content is reflected on the other remote operation terminals. Therefore, errors and confusion of the setting points can be prevented.
According to the work vehicle of the present invention, the image display is provided at each remote operation terminal. In addition, on an image display in another remote operation terminal, a screen in which contents to be reflected are recorded is displayed. According to this work vehicle, it is possible to prevent the setting points of the work device from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented.
According to the work vehicle of the present invention, the image display is provided at each remote operation terminal. When one remote operation terminal is operated, a screen asking whether or not the content of the previous setting point is changed is displayed on the image display of the remote operation terminal. According to this work vehicle, it is possible to prevent the setting points of the work device from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented.
According to the work vehicle of the present invention, when the content reflecting the change of the previous set point is selected, a screen recording the content to be reflected is displayed on the image display of the other remote operation terminal. According to this work vehicle, it is possible to prevent the setting points of the work device from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented.
According to the work vehicle of the present invention, when one remote operation terminal is being operated, the change of the setting point is prohibited in all the remote operation terminals. According to this work vehicle, it is possible to prevent the setting points of the work device from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented. In addition, safety corresponding to the operation of the working device can be improved.
According to the work vehicle of the present invention, the setting point of the work device can be changed using the remote operation terminal. In addition, only one remote operation terminal among the plurality of remote operation terminals is allowed to change the setting point. According to this work vehicle, the setting points of the work device can be changed only by a person having a predetermined remote operation terminal. Therefore, even when a plurality of operators operate the remote operation terminal, errors and confusion of the setting points can be prevented.
According to the work vehicle of the present invention, only one predetermined remote operation terminal is allowed to change the set point. According to this work vehicle, the configuration is simple and the setting point of the work device can be reliably changed only by a person having a predetermined remote operation terminal.
According to the work vehicle of the present invention, each remote operation terminal is provided with a switching tool. In addition, only one remote operation terminal selected by the switching tool is allowed to change the setting point. According to this work vehicle, one remote operation terminal can be arbitrarily selected, and only the person having this remote operation terminal can change the setting point of the work device.
According to the work vehicle of the present invention, each remote operation terminal is provided with the light portion. In addition, only in the remote operation terminal allowed to change the setting point, the light part is turned on. According to this work vehicle, the remote operation terminal that is permitted to change the setting point can be recognized at a glance.
According to the work vehicle of the present invention, the image display is provided at each remote operation terminal. In addition, only in the remote operation terminal which is allowed to change the setting point, the meaning is displayed on the image display. According to this work vehicle, it is possible to clearly recognize the remote operation terminal that is permitted to change the setting point at a glance.
According to the work vehicle of the present invention, the image display is provided at each remote operation terminal. In addition, a setting point changing screen is displayed on the image display in the remote operation terminal to which the change of the setting point is permitted, and the setting point changing screen is not displayed on the image display in the remote operation terminal to which the change of the setting point is not permitted. According to this work vehicle, the remote operation terminal that is permitted to change the setting point can perform an operation of changing the setting point. On the other hand, in a remote operation terminal that is not allowed to change the setting point, even an operation for changing the setting point cannot be performed. Therefore, it is possible to avoid an unnecessary operation of changing the setting point for a remote operation terminal that is not allowed to change the setting point.
Drawings
Fig. 1 is a diagram showing a crane.
Fig. 2 is a diagram showing a configuration of an operating system.
Fig. 3 is a diagram showing a state in which the remote operation terminal is being operated.
Fig. 4 is a diagram showing a screen for changing the setting point of the working device.
Fig. 5 is a diagram showing a screen for changing the crane setting.
Fig. 6 is a diagram showing a screen for changing the outrigger setting.
Fig. 7 is a view showing a screen for changing the weight setting.
Fig. 8A to 8B are diagrams showing information transmission paths when the setting point is changed.
Fig. 9 is a diagram showing a remote operation terminal according to an embodiment.
Fig. 10 is a diagram showing a remote operation terminal according to another embodiment.
Fig. 11 is a diagram showing a remote operation terminal according to an embodiment.
Fig. 12 is a diagram showing a remote operation terminal according to another embodiment.
Fig. 13A to 13B are diagrams showing a display mode of each remote operation terminal.
Fig. 14 is a diagram showing a process for changing the set point of the working device.
Fig. 15 is a diagram illustrating a process when the set point of the working device is changed.
Detailed Description
In the present application, a crane as a typical work vehicle will be described. The technical idea disclosed in the present application can be applied not only to the crane 1 described below but also to other cranes.
First, the crane 1 will be described with reference to fig. 1.
The crane 1 is mainly composed of a traveling body 2 and a revolving body 3.
The traveling body 2 includes a pair of left and right front wheels 4 and rear wheels 5. The traveling body 2 further includes outriggers 6 that are grounded to achieve stability during the operation of transporting the load L. Furthermore, the traveling structure 2 is configured such that the revolving structure 3 supported at the upper part thereof is freely revolved by an actuator.
The revolving unit 3 includes an arm 7 projecting forward from the rear portion thereof. Therefore, the arm 7 is rotatable by the actuator (see arrow a). The arm 7 is extendable and retractable by an actuator (see arrow B). Further, the arm 7 is configured to be movable up and down by the actuator (see arrow C). Further, a wire rope 8 is bridged over the arm 7. A hoist 9 around which a wire rope 8 is wound is disposed on the proximal end side of the arm 7, and a hook 10 is hung from the distal end side of the arm 7 via the wire rope 8. The hoist 9 is configured integrally with the actuator, and can wind in and wind out the wire rope 8. Therefore, the hook 10 is lifted and lowered by the actuator (see arrow D). Further, revolving unit 3 includes counterweight 11 at the rear of arm 7. The revolving structure 3 further includes a cabin 12 on a side of the arm 7. Inside the cabin 12, a turning operation tool 21, a telescopic operation tool 22, a raising and lowering operation tool 23, and a winding operation tool 24, which will be described later, are provided.
Next, an operating system will be described with reference to fig. 2 and 3. However, the present operating system is an example of conceivable configurations, and is not limited to this. Here, an operator who operates while riding on the crane 1 will be referred to as "operator X1", and an operator who operates without riding on the crane 1 will be referred to as "operator X2".
The operating system is mainly constituted by the control device 20. Various operation tools 21 to 24 are connected to the control device 20. The control device 20 is connected to various valves 31 to 34.
As described above, the arm 7 is rotatable by the actuator (see arrow a in fig. 1). In the present application, the actuator is defined as a turning hydraulic motor 41. The turning hydraulic motor 41 is operated appropriately by the turning valve 31 as an electromagnetic proportional switching valve. That is, the turning hydraulic motor 41 is operated appropriately by switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil by the turning valve 31. The turning valve 31 is operated based on the operation of the turning operation tool 21 by the operator X1. The turning angle and the turning speed of the arm 7 are detected by sensors, not shown. Therefore, the control device 20 can recognize the turning angle and the turning speed of the arm 7.
As described above, the arm 7 is extendable and retractable by the actuator (see arrow B in fig. 1). In the present application, this actuator is defined as a hydraulic cylinder 42 for extension and contraction. The hydraulic oil cylinder 42 for expansion and contraction is appropriately operated by the valve 32 for expansion and contraction which is an electromagnetic proportional switching valve. That is, the hydraulic oil cylinder 42 for telescopic mechanism is operated appropriately by switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil through the valve 32 for telescopic mechanism. The expansion/contraction valve 32 is operated based on the operation of the expansion/contraction operation tool 22 by the operator X1. The extension/contraction length and extension/contraction speed of the arm 7 are detected by sensors, not shown. Therefore, the controller 20 can recognize the extension/contraction length and the extension/contraction speed of the arm 7.
Further, as described above, the arm 7 is configured to be freely raised and lowered by the actuator (see arrow C in fig. 1). In the present application, this actuator is defined as a hydraulic cylinder 43 for heave. The heave hydraulic cylinder 43 is suitably operated by the heave valve 33 as an electromagnetic proportional switching valve. That is, the raising and lowering hydraulic cylinder 43 is operated appropriately by switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil by the raising and lowering valve 33. The heave valve 33 is operated based on the operation of the heave operation tool 23 by the operator X1. The pitch angle and pitch speed of the arm 7 are detected by sensors, not shown. Therefore, the control device 20 can recognize the heave angle and the heave speed of the arm 7.
Further, as described above, the hook 10 is movable up and down by the actuator (see arrow D in fig. 1). In the present application, the actuator is defined as a winding hydraulic motor 44. The winding hydraulic motor 44 is suitably operated by the winding valve 34 as an electromagnetic proportional switching valve. That is, the winding hydraulic motor 44 is operated appropriately by switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil by the winding valve 34. The winding valve 34 is operated based on the operation of the winding operation tool 24 by the operator X1. The hanging length and the lifting speed of the hook 10 are detected by sensors, not shown. Therefore, the controller 20 can recognize the hanging length and the lifting speed of the hook 10.
Further, the control device 20 is connected to an information relay device 35. However, when the remote operation terminal 13 is wired, the information relay device 35 is not necessary.
The information relay unit 35 transmits and receives information converted into an electric wave signal. The information relay device 35 is attached to at least the tip end portion of the arm 7 with an antenna in order to reduce the influence of an object on the radio wave. The information relay device 35 is connected not only to the control device 20 but also to a control device 60 of the remote operation terminal 13 described later. Therefore, the information relay 35 can transmit information from the control device 20 to the control device 60. Further, the information relay device 35 can also transmit information from the control device 60 to the control device 20.
The present operating system is provided with a plurality of remote operation terminals 13. The remote operation terminal 13 includes a control device 60. The remote operation terminal 13 includes a transmitter and a receiver, not shown. The remote operation terminal 13 in the present application is an example of a remote operation terminal, and is not limited to this.
The remote operation terminal 13 is provided with a swing operation tool 61. The swing operation tool 61 is connected to the control device 60. The control device 60 is connected to the control device 20 via a radio signal. Therefore, if the operator X2 tilts the swing tool 61 in an arbitrary direction (see arrow E in fig. 3), the arm 7 is swung in the same manner as the swing tool 21 described above is tilted in an arbitrary direction. That is, if the operator X2 tilts the swing operation tool 61 in any direction, the swing hydraulic motor 41 is appropriately operated, and the arm 7 swings left or right.
In addition, the remote operation terminal 13 is provided with a telescopic operation tool 62. The telescopic operation means 62 is connected to the control device 60. The control device 60 is connected to the control device 20 via a radio signal. Therefore, if the operator X2 tilts the telescopic operation tool 62 in an arbitrary direction (see arrow F in fig. 3), the arm 7 is extended and retracted in the same manner as the telescopic operation tool 22 described above is tilted in an arbitrary direction. That is, if the operator X2 tilts the telescopic operation tool 62 in any direction, the telescopic hydraulic cylinder 42 is appropriately operated, and the arm 7 is extended or contracted.
Further, the remote operation terminal 13 is provided with a raising and lowering operation tool 63. The heave operation means 63 is connected to the control device 60. The control device 60 is connected to the control device 20 via a radio signal. Therefore, if the operator X2 tilts the raising and lowering operation tool 63 in an arbitrary direction (see arrow G in fig. 3), the raising and lowering operation of the arm 7 is performed in the same manner as the tilting of the raising and lowering operation tool 23 described above in an arbitrary direction. That is, if the operator X2 tilts the raising and lowering operation tool 63 in any direction, the raising and lowering hydraulic cylinder 43 is operated appropriately, and the arm 7 is raised or lowered.
Further, the remote operation terminal 13 is provided with a winding operation tool 64. The winding operation tool 64 is connected to the control device 60. The control device 60 is connected to the control device 20 via a radio signal. Therefore, if the operator X2 tilts the winding operation tool 64 in an arbitrary direction (see arrow H in fig. 3), the hook 10 is lifted and lowered in the same manner as the above-described tilting of the winding operation tool 24 in an arbitrary direction. That is, if the operator X2 tilts the winding operation tool 64 in any direction, the winding hydraulic motor 44 is appropriately operated, and the hook 10 is raised or lowered.
Further, an image display 65 is provided on the remote operation terminal 13. The image display 65 is connected to the control device 60. The control device 60 is connected to the control device 20 via a radio signal. Therefore, the control device 20 can provide information to the operator X2 via the image display 65. On the other hand, the image display 65 is a so-called touch panel, and thus can be said to be an input device for the operator X2. Therefore, the operator X2 can also provide information to the control device 20 via the image display 65. The image display 65 is attached to the front surface of the remote operation terminal 13 so that the operator X2 can visually recognize the various operation tools 61 to 64 while operating them.
According to such an operation system, the plurality of operators X2 can operate the work device 40 by operating the remote operation terminal 13. This has the following effect: even in a work site with a large amount of blind spots for one operator X2, the plurality of operators X2 can sequentially transfer the work devices 40 to each other while operating them. Note that the work implement 40 is synonymous with the revolving unit 3 and refers to a "crane apparatus" including the arm 7, the hook 10, and the like.
Next, a screen for changing the setting points of work implement 40 will be described with reference to fig. 4 to 8A to 8B. Here, it is assumed that only one remote operation terminal 13 among the plurality of remote operation terminals 13 is allowed to change the setting point. Hereinafter, the description will be given focusing on the remote operation terminal 13.
Next, crane setting will be briefly described. When the operator X2 presses the button B1 related to crane setting, a predetermined screen S1 (see fig. 5) is displayed on the image display 65. On the screen S1, a schematic diagram I1 showing the state of the arm 7 is included. The schematic diagram I1 simply depicts the tip end portion of the arm 7, and sequentially changes to a so-called arm working state or a boom working state by pressing the forward button Bf or the return button Bb. Then, the operator presses the set key button Bs, thereby determining the set point.
Next, the outrigger setting will be briefly explained. When the operator presses the button B2 related to the outrigger setting, a predetermined screen S2 is displayed on the image display 65 (see fig. 6). On the screen S2, a schematic diagram I2 showing the state of the outrigger 6 is included. The schematic view I2 simply depicts the protruding length of each outrigger 6, and the protruding length of each outrigger 6 is gradually changed by pressing the forward button Bf or the return button Bb. Then, the operator presses the set key button Bs, thereby determining the set point.
Next, the weight setting will be briefly described. If the operator presses the button B3 related to the weight setting, a predetermined screen S3 is displayed on the image display 65 (see fig. 7). On the screen S3, a schematic diagram I3 showing the state of the counterweight 11 is included. The schematic diagram I3 simply depicts the total weight of the counterweight 11, which is gradually changed by pressing the forward button Bf or the return button Bb, of the counterweight 11. Then, the operator presses the set key button Bs, thereby determining the set point.
Here, a mechanism will be described in which if one remote operation terminal 13 among the plurality of remote operation terminals 13 changes the setting point, the change is reflected in the other remote operation terminal 13.
First, if the operator X2 holding the predetermined remote operation terminal 13 changes the setting point, the information is transmitted to the control device 20 (see arrow M in fig. 8A). That is, if the operator X2 having the predetermined remote operation terminal 13 changes the setting point, the information is converted into a radio signal and transmitted from a transmitter not shown. Then, the information relay device 35 receives and restores the radio wave signal, and transmits the restored radio wave signal to the control device 20. In this way, the control device 20 recognizes that the setting point of the working device 40 has been changed, and controls the various valves 31 to 34 based on the new setting point.
Thereafter, if the control device 20 recognizes that the setting point of the working device 40 has been changed, the information is transmitted to another remote operation terminal 13 (see arrow N in fig. 8B). That is, if the control device 20 recognizes that the setting point of the working device 40 has been changed, the information is converted into a radio signal and transmitted from the information relay device 35. Then, the receiver, not shown, receives and restores the radio wave signal, and transmits the radio wave signal to the control device 60. In this way, control device 60 recognizes that the setting point of work implement 40 has been changed, and discards the old setting point and replaces it with the new setting point.
As described above, the crane 1 can change the setting point of the working device 40 using the remote operation terminal 13. In addition, if one remote operation terminal 13 among the plurality of remote operation terminals 13 changes the setting point, the change is reflected in the other remote operation terminals 13. According to this crane 1, the same set points are reflected in all the remote operation terminals 13. Therefore, even when the plurality of operators X2 operate the remote operation terminal 13, it is possible to prevent errors and confusion of setting points.
In addition, as a method of determining one remote operation terminal 13 among the plurality of remote operation terminals 13, it may be considered to determine in advance. That is, no choice is left, but it is initially determined in advance.
In this case, in the crane 1, only one predetermined remote operation terminal 13 is permitted to change the setting point, and if the remote operation terminal 13 changes the setting point, the change is reflected in the other remote operation terminals 13. According to the crane 1, the point of setting the work equipment 40 can be changed only by a person (operator X2) having a predetermined remote operation terminal 13, and the content is reflected on the other remote operation terminal 13. Therefore, errors and confusion of the setting points can be prevented.
Further, as a method of determining one remote operation terminal 13 among the plurality of remote operation terminals 13, it is conceivable that the method can be arbitrarily determined by the operator X2. That is, the switching tool 66 (see fig. 2 and 3) is provided like the remote operation terminal 13 of the present application so as to be able to be specified by the operation of the operator X2.
In this case, the crane 1 is provided with a switching tool 66 in each remote operation terminal 13. Further, only one remote operation terminal 13 selected by the switching tool 66 is allowed to change the setting point, and if the remote operation terminal 13 changes the setting point, the change is reflected also on the other remote operation terminals 13. According to the crane 1, the point of setting of the work equipment 40 can be changed only by the person (operator X2) having the selected one remote operation terminal 13, and the content is reflected on the other remote operation terminals 13. Therefore, errors and confusion of the setting points can be prevented.
In this regard, it is preferable that what can be confirmed by the operator X2 is reflected.
On the other hand, since each remote operation terminal 13 is provided with an image display 65 (see fig. 2 and 3), it is conceivable to display a screen S4 in which the contents are recorded. For example, in a case where there are the first to third remote operation terminals 13 to 13 and the second remote operation terminal 13 is selected, a screen S4 (see fig. 9) in which the content is recorded is displayed on the image display 65 in the first and third remote operation terminals 13 and 13.
In this manner, the crane 1 is provided with the image display 65 on each remote operation terminal 13. In addition, on the image display 65 in the other remote operation terminal 13, a screen S4 in which contents to be reflected are recorded is displayed. According to the crane 1, it is possible to prevent the setting points of the working device 40 from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented.
In addition, when one remote operation terminal 13 is operated, if the content when the previous setting point is changed is automatically reflected, there is a possibility that confusion may occur. It is therefore conceivable that, on the image display 65 in the remote operation terminal 13, the screen S5 asking whether or not the content is reflected is displayed. For example, when the second remote operation terminal 13 is operated after the setting point is changed using the first remote operation terminal 13, a screen S5 (see fig. 10) asking whether or not the content is reflected is displayed on the image display 65 of the second remote operation terminal 13.
In this manner, the crane 1 is provided with the image display 65 on each remote operation terminal 13. When one remote operation terminal 13 is operated, a screen S5 asking whether or not the content of the previous setting point is changed is displayed on the image display 65 of the remote operation terminal 13. According to the crane 1, it is possible to prevent the setting points of the working device 40 from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented.
Further, when the content reflecting the change of the previous setting point is selected, the screen S4 in which the content is recorded may be displayed on the image display 65 of the other remote operation terminal 13. For example, when the content reflecting the change of the previous setting point is selected in the second remote operation terminal 13, the screen S4 (see fig. 9) in which the content is recorded is displayed on the image display 65 in the first remote operation terminal 13 and the third remote operation terminal 13.
In this way, when the content reflecting the change of the previous setting point is selected, the crane 1 displays the screen S4 in which the content to be reflected is recorded on the image display 65 of the other remote operation terminal 13. According to the crane 1, it is possible to prevent the setting points of the working device 40 from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented.
In addition, in the crane 1, when one remote operation terminal 13 is being operated, the change of the setting point is prohibited in all the remote operation terminals 13. For example, when one remote operation terminal 13 is operating the work device 40, the change of the setting point is prohibited in all the remote operation terminals 13.
In this way, when the crane 1 is operating one remote operation terminal 13, the change of the setting point is prohibited in all the remote operation terminals 13. According to the crane 1, it is possible to prevent the setting points of the working device 40 from being accidentally changed. Therefore, errors and confusion of the setting points can be prevented. In addition, safety corresponding to the operation of work implement 40 can be improved.
Finally, the technical idea disclosed in the present application can be applied to other work vehicles provided with a plurality of remote operation terminals 13. For example, the present invention can be applied to an aerial work vehicle and the like.
In addition, the crane 1 can change the setting point of the working device 40 using the remote operation terminal 13. Further, the following may be adopted: only one remote operation terminal 13 among the plurality of remote operation terminals 13 is allowed to change the setting point. According to the crane 1, the setting point of the working device 40 can be changed only by a person (operator X2) having a predetermined remote operation terminal 13. Therefore, even when the plurality of operators X2 operate the remote operation terminal 13, it is possible to prevent errors and confusion of setting points.
In addition, as a method of determining one remote operation terminal 13 among the plurality of remote operation terminals 13, it is conceivable to determine in advance. That is, no choice is left, but it is initially determined in advance.
In this case, in the crane 1, only one predetermined remote operation terminal 13 is allowed to change the setting point. According to the crane 1, the configuration is simple and the setting point of the working device 40 can be reliably changed only by a person (operator X2) having a predetermined remote operation terminal 13.
Further, as a method of determining one remote operation terminal 13 among the plurality of remote operation terminals 13, it is conceivable that the method can be arbitrarily determined by the operator X2. That is, the switching tool 66 (see fig. 2 and 3) is provided like the remote operation terminal 13 of the present application so as to be able to be specified by the operation of the operator X2.
In this case, in the crane 1, only one remote operation terminal 13 selected by the switching tool 66 is allowed to change the setting point. According to the crane 1, one remote operation terminal 13 can be arbitrarily selected, and only the person (operator X2) having the remote operation terminal 13 can change the setting point of the working device 40.
In this regard, it is preferable that whether or not the selected one of the remote operation terminals 13 is identified at a glance by the operator X2.
In contrast, it is conceivable to provide the light section 67 (see fig. 2 and 3) in the remote operation terminal 13 and light only one selected remote operation terminal 13. For example, when the first to third remote operation terminals 13 to 13 are present and the second remote operation terminal 13 is selected, only the light unit 67 provided in the second remote operation terminal 13 emits light (see fig. 11). However, the mode of selecting one remote operation terminal 13 by the switching tool 66 is not limited.
In this case, in the crane 1, the lighting portion 67 is turned on only in the remote operation terminal 13 that is allowed to change the setting point. According to the crane 1, the remote operation terminal 13, of which the setting point is allowed to be changed, can be recognized at a glance.
Since the image display 65 (see fig. 2 and 3) is provided in the remote operation terminal 13, it is conceivable that this is displayed only in the selected one of the remote operation terminals 13. For example, when the first to third remote operation terminals 13 to 13 are provided and the second remote operation terminal 13 is selected, the meaning is displayed only on the image display 65 provided in the second remote operation terminal 13 (see fig. 12: a reference symbol part). However, the mode of selecting one remote operation terminal 13 by the switching tool 66 is not limited. The display mode of the symbol, character, and the like is not limited.
In this case, the crane 1 displays the fact on the image display 65 only on the remote operation terminal 13 that allows the setting point to be changed. According to the crane 1, the remote operation terminal 13, of which the setting point is allowed to be changed, can be recognized at a glance.
Next, a display mode when the operation of opening the initial screen S described above is performed will be described with reference to fig. 13A to 13B. In the crane 1, the remote operation terminal 13, which is allowed to change the setting point, opens the initial screen S when a button, not shown, is pressed. Here, the initial screen S is defined as a "setting point changing screen S".
First, the remote operation terminal 13 permitted to change the setting point will be described. In the remote operation terminal 13 that is permitted to change the setting point, if the operator presses a predetermined button, a setting point change screen S (see fig. 13A) is displayed on the image display 65. On the setting point changing screen S, the schematic diagram Ia, the schematic diagram Ib, the schematic diagram Ic, and the schematic diagram Id are displayed.
Next, the remote operation terminal 13 that is not allowed to change the setting point will be described. In the remote operation terminal 13 that is not allowed to change the setting point, the setting point change screen S is not displayed on the image display 65 even if the operator presses a predetermined button. Alternatively, a comment such as "the remote operation terminal is not allowed to change the setting point" is displayed (see fig. 13B). At this time, the number of the remote operation terminal 13, which is permitted to change the setting point, may be notified.
In this manner, the setting point changing screen S is displayed on the image display 65 in the remote operation terminal 13 in which the change of the setting point is permitted, and the setting point changing screen S is not displayed on the image display 65 in the remote operation terminal 13 in which the change of the setting point is not permitted. According to the crane 1, the remote operation terminal 13, which is allowed to change the setting point, can perform an operation of changing the setting point. On the other hand, in the remote operation terminal 13 which is not allowed to change the setting point, even the operation of changing the setting point cannot be performed. Therefore, it is possible to avoid an unnecessary operation of performing an operation of changing the setting point with respect to the remote operation terminal 13 which is not allowed to change the setting point.
Next, the processing in the control device 20 will be briefly described with reference to fig. 14. Here, it is assumed that the change authority request button (for example, the above-described button B1/B2/B3, the setting key button Bs, or another button) is pressed.
According to such a flowchart, a command (command B) for granting permission can be transmitted to a predetermined remote operation terminal 13. Further, the predetermined remote operation terminal 13 can accept a change of the setting point. However, the flowchart is an example of a conceivable configuration, and is not limited to this.
Next, the processing in the control device 60 will be briefly described with reference to fig. 15. Here, it is also assumed that a change authority request button (for example, the above-described button B1/B2/B3, the setting key button Bs, or another button) is pressed.
According to such a flowchart, the image display 65 of the remote operation terminal 13 displays the fact that the change authority is acquired or the fact that the change authority is not acquired. In addition, the display means displays the meaning that the acquisition of the change authority has failed for some reason. However, this flowchart is an example of a conceivable configuration, and is not limited to this.
Finally, the technical idea disclosed in the present application can be applied to other work vehicles having a plurality of remote operation terminals 13. For example, the present invention can be applied to an aerial work vehicle.
Industrial applicability
The present invention can be used for a work vehicle. Specifically, the present invention is intended for a work vehicle that can prevent errors and confusion in setting points even when a plurality of operators operate remote operation terminals.
Description of the reference numerals:
1. crane (working vehicle)
2. Traveling body
3. Rotary body
7. Arm(s)
10. Hook
13. Remote control device
20. Control device
40. Working device
60. Control device
61. Rotary operation tool
62. Telescopic operating tool
63. Undulation operation tool
64. Winding operation tool
65. Image display
66. Switching tool
67. Lamplight part
L cargo
X1 operator
X2 operator.
Claims (6)
1. An operation system including a work vehicle including a work device and a control device that controls the work device, and a plurality of remote operation terminals each capable of operating the work device,
the operating system is characterized in that it is,
the operation condition setting unit is configured to be capable of changing a setting point of an operation condition of the working device set in the control device by transmitting a first radio wave signal from the remote operation terminal to the control device,
when one of the plurality of remote operation terminals changes the setting point set in the control device, the control device transmits a second radio signal to the other of the plurality of remote operation terminals, and the content of the changed setting point is reflected on the other remote operation terminals,
a switching tool is provided at each of the remote operation terminals,
wherein only one of the remote operation terminals selected by the switching tool is permitted to change the setting point, and when the setting point is changed by the remote operation terminal, the content of the changed setting point is reflected on the other remote operation terminals,
an image display is provided at each of the remote operation terminals,
when one of the remote operation terminals selected by the switching means changes the setting point, a screen on which the content of the changed setting point is recorded is displayed on the image display of the other remote operation terminal.
2. The operating system of claim 1,
while one of the remote operation terminals is being operated,
in all of the remote operation terminals, change of the setting points is prohibited.
3. The operating system of claim 1,
only one of the remote operation terminals among the plurality of remote operation terminals is allowed to change the setting point.
4. The operating system of claim 3,
each of the remote operation terminals is provided with a light part,
the light section is turned on only in the remote operation terminal permitted to change the setting point.
5. The operating system of claim 3,
and displaying the remote operation terminal with a symbol only on an image display in the remote operation terminal, of which the change of the setting point is permitted.
6. The operating system of claim 3,
displaying a setting point changing screen on the image display in the remote operation terminal allowed to change a setting point,
and not displaying a setting point changing screen on the image display in the remote operation terminal not allowed to change a setting point.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018062928A JP7172092B2 (en) | 2018-03-28 | 2018-03-28 | work vehicle |
| JP2018-062927 | 2018-03-28 | ||
| JP2018062927A JP7069952B2 (en) | 2018-03-28 | 2018-03-28 | Work vehicle |
| JP2018-062928 | 2018-03-28 | ||
| PCT/JP2019/013110 WO2019189320A1 (en) | 2018-03-28 | 2019-03-27 | Work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111886195A CN111886195A (en) | 2020-11-03 |
| CN111886195B true CN111886195B (en) | 2022-11-04 |
Family
ID=68060576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980020934.2A Active CN111886195B (en) | 2018-03-28 | 2019-03-27 | Operating system |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US11958724B2 (en) |
| EP (1) | EP3778463A4 (en) |
| CN (1) | CN111886195B (en) |
| WO (1) | WO2019189320A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7287045B2 (en) * | 2019-03-26 | 2023-06-06 | コベルコ建機株式会社 | remote control system |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4330099A1 (en) | 1993-09-06 | 1995-03-09 | Nbb Nachrichtentech Gmbh | Remote control procedure |
| JPH11165981A (en) * | 1997-12-05 | 1999-06-22 | Matsushita Electric Ind Co Ltd | Radio controller for crane |
| JP4507884B2 (en) * | 2005-01-11 | 2010-07-21 | トヨタ自動車株式会社 | Vehicle with remote control system and remote control device |
| JP2006254161A (en) * | 2005-03-11 | 2006-09-21 | Denso Corp | Remote control completion notifying method and remote control system |
| US8457828B2 (en) | 2005-06-27 | 2013-06-04 | The Charles Machine Works, Inc. | Remote control machine with partial or total autonomous control |
| US8139108B2 (en) * | 2007-01-31 | 2012-03-20 | Caterpillar Inc. | Simulation system implementing real-time machine data |
| JP6202670B2 (en) | 2013-05-13 | 2017-09-27 | 株式会社タダノ | Remote control system for work machines |
| JP2015030588A (en) * | 2013-08-02 | 2015-02-16 | 株式会社タダノ | Operation amount restriction device for work machine |
| JP6473291B2 (en) * | 2013-12-18 | 2019-02-20 | 株式会社加藤製作所 | Mobile crane remote monitoring system |
| JP6492456B2 (en) * | 2014-08-19 | 2019-04-03 | 井関農機株式会社 | Operation system |
| JP6672681B2 (en) | 2015-10-01 | 2020-03-25 | 株式会社タダノ | Remote control device |
| EP3365264A4 (en) * | 2015-10-21 | 2019-05-29 | Vehicle Service Group, LLC | Setup and control of a wireless lift system |
| JP2018000156A (en) | 2016-07-07 | 2018-01-11 | 井関農機株式会社 | Working vehicle |
| JP6341246B2 (en) * | 2016-09-06 | 2018-06-13 | 株式会社豊田自動織機 | Industrial vehicle remote control system, communication device, and industrial vehicle remote control program |
| JPWO2019172424A1 (en) * | 2018-03-08 | 2021-03-18 | 住友重機械工業株式会社 | Work machines, information processing equipment, information processing methods, programs |
-
2019
- 2019-03-27 CN CN201980020934.2A patent/CN111886195B/en active Active
- 2019-03-27 EP EP19777802.0A patent/EP3778463A4/en active Pending
- 2019-03-27 US US16/981,024 patent/US11958724B2/en active Active
- 2019-03-27 WO PCT/JP2019/013110 patent/WO2019189320A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| EP3778463A1 (en) | 2021-02-17 |
| EP3778463A4 (en) | 2022-01-05 |
| CN111886195A (en) | 2020-11-03 |
| US11958724B2 (en) | 2024-04-16 |
| WO2019189320A1 (en) | 2019-10-03 |
| US20210017003A1 (en) | 2021-01-21 |
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